The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Aug. 25, 2026
Filed:
Sep. 19, 2024
Jiangsu University, Zhenjiang, CN;
Qingchao Liu, Zhenjiang, CN;
Chengzhi Gao, Zhenjiang, CN;
Yingfeng Cai, Zhenjiang, CN;
Hai Wang, Zhenjiang, CN;
Long Chen, Zhenjiang, CN;
JIANGU UNIVERSITY, Zhenjiang, CN;
Abstract
The present disclosure discloses a method for target assignment and route planning for multi-agent unmanned surface vehicles (USVs). Task information is transmitted to a task allocator, which identifies unassigned targets and available USVs. Based on a comprehensive cost function considering navigation distance and turning penalties between targets and USVs, a target is assigned to each USV. A path planner then generates a smooth waypoint sequence for each assigned USV and target pair, serving as the navigation path. During navigation, a navigation controller constructs a velocity optimization model according to cooperative collision avoidance and maritime boundary constraints, and controls the USVs in real-time to navigate along the waypoint sequences. The present disclosure achieves efficient matching of multiple targets and multi-agent USVs, generates smooth navigation paths satisfying constraints, and enables intelligent navigation control while meeting cooperative collision avoidance requirements and maritime boundary constraints.